CN109230573B - Automatic feeding machine - Google Patents
Automatic feeding machine Download PDFInfo
- Publication number
- CN109230573B CN109230573B CN201811199964.8A CN201811199964A CN109230573B CN 109230573 B CN109230573 B CN 109230573B CN 201811199964 A CN201811199964 A CN 201811199964A CN 109230573 B CN109230573 B CN 109230573B
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- workpiece
- motor
- frame
- feeding
- fixed plate
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 28
- 230000000903 blocking effect Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims 2
- 239000012634 fragment Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 238000011068 loading method Methods 0.000 description 3
- 239000004033 plastic Substances 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000026438 poor feeding Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/06—De-stacking from the bottom of the stack
- B65G59/061—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack
- B65G59/062—De-stacking from the bottom of the stack articles being separated substantially along the axis of the stack by means of reciprocating or oscillating escapement-like mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/88—Separating or stopping elements, e.g. fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to the technical field of mechanical workpiece feeding, in particular to an automatic feeding machine. The invention adopts the close matching of the power cabinet, the hanging disc switching mechanism, the cam assembly mechanism, the spring plate position detection mechanism, the workpiece distributing mechanism, the workpiece taking mechanism, the synchronous belt conveying mechanism, the empty tray stacking mechanism and the like, thereby skillfully realizing the full automation of workpiece feeding. The invention improves the feeding accuracy on the basis of improving the feeding speed of the workpiece, ensures the feeding quality of the workpiece in the feeding process, has simple composition structure and wide application range.
Description
Technical Field
The invention relates to a feeding mechanism, in particular to an automatic feeding machine, and belongs to the technical field of mechanical workpiece feeding.
Background
In the small-sized workpiece processing technology, in order to facilitate the processing operation of a workpiece, the processing quality of the workpiece is improved, and the elastic fixing structure stretches into the workpiece to be stretched so as to fix and process the workpiece. Before processing, the elastic fixing structure is extruded by applying a large acting force manually, so that manual feeding is realized.
Through repeated extrusion material loading operation many times, not only easily lead to staff's finger to exert oneself tired, reduce production efficiency, increase occupational disease risk, moreover in operation scratch machined part easily, lead to the defective rate of machined part to rise. The ratio of the scratch of the workpiece processed by the traditional manual operation is more than 10%, and the jig is easy to deform, so that the blanking work is not smooth, and the ratio of the scratch of the workpiece is increased. Therefore, the feeding efficiency and quality of small-sized workpieces are improved, the manpower requirement is greatly reduced, and the risks that products are possibly damaged and polluted are avoided.
Disclosure of Invention
The invention aims to provide an automatic feeding machine so as to solve the problems of low feeding speed, poor feeding quality and the like in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automatic feeding machine is designed, includes power cabinet, its characterized in that: the automatic feeding device comprises a power cabinet, a synchronous belt conveying mechanism, a blank tray stacking mechanism, a cam assembling mechanism, a cam hanging mechanism and a workpiece direction detecting mechanism, wherein the upper end face of the power cabinet is provided with a fixing frame, a feeding frame, a fixing plate A, a fixing plate B and a motor switching mechanism, the feeding frame is a rectangular frame, the fixing frame vertically extends through the feeding frame, the synchronous belt conveying mechanism and the blank tray stacking mechanism are arranged at the upper end of the fixing frame in parallel, a moving sliding rail is arranged at one side of the upper end frame of the feeding frame, the lower end of the blank tray stacking mechanism is provided with the workpiece feeding mechanism, the workpiece feeding mechanism is arranged above the blank tray stacking mechanism, the other end of the blank tray stacking mechanism is provided with the cam assembling mechanism, the fixing plate A and the fixing plate B are arranged between the synchronous belt conveying mechanism and the blank tray stacking mechanism, the workpiece direction detecting mechanism is arranged at the upper end side of the fixing plate B, the detecting ring is arranged below the workpiece direction detecting mechanism and fixed on the fixing plate B, the spring sheet position detecting mechanism is arranged on the fixing plate A at one side of the fixing plate B, the other end of the blank tray stacking mechanism is also provided with the cam assembling mechanism, and the pneumatic assembling mechanism is arranged on the cam hanging mechanism; the hanging plate switching mechanism is provided with a motor lifting mechanism, a switching plate, a motor A, a motor B, a hanging plate, a fixed sliding rail and a motor C, wherein the rear end face of the switching plate is connected to the motor A, one side of the front end face of the switching plate is provided with the motor lifting mechanism, the other side of the front end face of the switching plate is provided with the fixed sliding rail, the motor B and the motor C are arranged on the fixed sliding rail, a tray is connected to the power output ends of the motor A and the motor B, and an elastic sheet is arranged on the tray.
Preferably, the spring plate position detecting mechanism is a laser position detector, and the laser output end is arranged at one side of the spring plate.
Preferably, the hanging disc is disc-shaped, and a plurality of elastic sheets are uniformly arranged on the edge end face.
Preferably, the motors B and C are direct drive rotary motors.
Preferably, the synchronous belt in the synchronous belt conveying mechanism is an arc tooth synchronous belt.
Preferably, the workpiece distributing mechanism is provided with a distributing cylinder and a jacking cylinder.
Preferably, the workpiece taking mechanism is provided with a material blocking cylinder and a jacking cylinder.
Preferably, the chuck of the pneumatic clamp is encapsulated by rubber.
The invention provides an automatic feeding machine, which has the beneficial effects that: the invention adopts the close matching of the power cabinet, the hanging disc switching mechanism, the cam assembly mechanism, the spring plate position detection mechanism, the workpiece distributing mechanism, the workpiece taking mechanism, the synchronous belt conveying mechanism, the empty tray stacking mechanism and the like, thereby skillfully realizing the full automation of workpiece feeding. The invention improves the feeding accuracy on the basis of improving the feeding speed of the workpiece, ensures the feeding quality of the workpiece in the feeding process, has simple composition structure and wide application range.
Drawings
FIG. 1 is a schematic view of the whole structure of an automatic feeder according to the present invention;
FIG. 2 is a schematic diagram of a three-axis side structure of an automatic feeder according to the present invention;
FIG. 3 is a top view of the overall structure of an automatic feeder according to the present invention;
FIG. 4 is a rear elevational view of the overall structure of an automatic feeder of the present invention;
fig. 5 is a schematic view of a hanging plate switching mechanism of an automatic feeding machine.
In the description of the drawings: 1-hanging disc switching mechanism, 2-cam assembling mechanism, 3-pneumatic clamp, 4-fixed plate A, 5-shrapnel position detecting mechanism, 6-fixed plate B, 7-workpiece direction detecting mechanism, 8-workpiece distributing mechanism, 9-detecting ring, 10-moving slide rail, 11-workpiece taking mechanism, 12-synchronous belt conveying mechanism, 13-empty tray stacking mechanism, 14-taking frame, 15-fixed frame, 16-power cabinet, 101-motor lifting mechanism, 102-switching plate, 103-motor A, 104-motor B, 105-hanging disc, 106-fixed slide rail, 107-motor C and 108-shrapnel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "front", "rear", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, and are configured and operated in the specific azimuth, and thus should not be construed as limiting the present invention.
Referring to fig. 1-5, an automatic feeder comprises a power cabinet 16, wherein a fixing frame 15, a material taking frame 14, a fixing plate A4, a fixing plate B6 and a motor switching mechanism are arranged on the upper end surface of the power cabinet 16, the material taking frame 14 is a rectangular frame, the fixing frame 15 vertically extends through the material taking frame 14, a synchronous belt conveying mechanism 12 and an empty tray stacking mechanism 13 are arranged at the upper end of the fixing frame 15 in parallel, a moving slide rail 10 is arranged at one side of an upper end frame of the material taking frame 14, a workpiece material taking mechanism 11 is arranged at the lower end of the workpiece material taking mechanism 11, the workpiece material taking mechanism 11 is arranged above the empty tray stacking mechanism 13, 4 baffle columns are arranged at one end of the empty tray stacking mechanism 13, a workpiece distributing mechanism 8 is arranged at the other end of the empty tray stacking mechanism, a fixing plate A4 and a fixing plate B6 are arranged between the synchronous belt conveying mechanism 12 and the empty tray stacking mechanism 13, a workpiece direction detecting mechanism 7 is arranged at the upper end side surface of the fixing plate B6 and above the synchronous belt conveying mechanism 12, a detecting ring 9 is arranged below the workpiece direction detecting mechanism 7 and is fixed on the fixing plate B6, a spring plate position detecting mechanism 5 is arranged at one side of the fixing plate a fixing plate B4, a cam assembling mechanism is arranged at the other end of the fixing plate B4, a cam assembling mechanism 2 is arranged at the other end of the cam assembling mechanism 2, and a cam assembling mechanism 2 is arranged at the other end of the cam assembling mechanism 2; the hanging plate switching mechanism 1 comprises a motor lifting mechanism 101, a switching plate 102, a motor A103, a motor B104, a hanging plate 105, a fixed sliding rail 106 and a motor C107, wherein the rear end face of the switching plate 102 is connected with the motor A103, one side of the front end face of the switching plate 102 is provided with the motor lifting mechanism 101, the other side is provided with the fixed sliding rail 106, the motor B104 and the motor C107 are arranged on the fixed sliding rail 106, a tray is connected with the power output ends of the motor A103 and the motor B104, and a spring piece 108 is arranged on the tray. The spring piece position detection mechanism 5 is a laser position detector, and the laser output end is disposed at one side of the spring piece 108, and the spring piece position detection mechanism 5 is used for detecting whether deformation of the spring piece 108 exceeds a limit. The hanging plate 105 is disc-shaped, and a plurality of elastic sheets 108 are uniformly arranged on the edge end surface. The motors B104 and C107 are direct-drive rotary motors, and when the rotation angle is precisely controlled, dimensional errors due to friction of mechanical structures are reduced. The timing belt in the timing belt conveying mechanism 12 is an arc tooth timing belt. The tray is a workpiece plastic sucking disc, and the workpiece is arranged in a groove of the plastic sucking disc. The workpiece distributing mechanism 8 is provided with a distributing cylinder and a jacking cylinder for separating the trays. The workpiece taking mechanism 11 is provided with a material blocking cylinder for blocking the tray, and a jacking cylinder for jacking and fixing the tray, the workpiece taking mechanism 11 moves to a taking position for grabbing the workpiece, and the chuck of the pneumatic clamp 3 is coated with rubber, so that the workpiece is prevented from being damaged.
Working principle: firstly, a power cabinet 16 is started, a stack of trays is placed into a workpiece tray distributing mechanism, a distributing cylinder and a jacking cylinder in the workpiece distributing mechanism 8 jack up the upper stack tray, lower trays are separated, the lowest tray is transmitted to the lower part of a workpiece material taking mechanism 11 through an empty tray stacking mechanism 13 and is blocked by a material blocking cylinder, a moving sliding rail 10 moves at the upper end frame of the material taking frame 14, the workpiece material taking mechanism 11 is adjusted to move, the workpiece material taking mechanism 11 is moved to a material taking position, the jacking cylinder jacks up and fixes the trays, the workpiece material taking mechanism 11 grabs the workpieces, and the empty tray for taking out the workpieces is conveyed to the right-end stack tray position for stacking. The workpiece taken out is placed on the synchronous belt conveying mechanism 12, when the workpiece moves to the position below the center of the detection ring 9, the workpiece direction detecting mechanism 7 detects the positive and negative directions of the workpiece direction, when the workpiece direction is not right, the cam assembling mechanism 2 skips and grabs the workpiece, the workpiece is uniformly collected after flowing, and when the workpiece direction is right, the synchronous belt conveying mechanism 12 conveys the workpiece to the material taking position of the cam assembling mechanism 2 to wait for material taking. The spring plate position detection mechanism 5 is used for determining the position of the spring plate 108 and the deformation condition of the spring plate 108, when the deformation exceeds the limit, the pneumatic clamp 3 arranged on the cam assembly mechanism 2 does not clamp a workpiece to be placed on the spring plate 108, the motor B104 or the motor C107 continuously rotates and skips over the deformed spring plate 108, if the deformation of the spring plate 108 does not exceed the limit, the pneumatic clamp 3 arranged on the cam assembly mechanism 2 grabs the workpiece to be placed on the spring plate 108, after one spring plate 108 is placed in the workpiece, the hanging plate 105 connected with the spring plate is rotated by an angle through the motor A103 or the motor B104, the next spring plate 108 without the workpiece is moved to the upper material level, the whole hanging plate 105 is fully loaded according to the loading method, the hanging plate 105 with the workpiece is fully loaded, the hanging plate 105 with the workpiece is switched to the upper material level of the original hanging plate 105 under the action of the motor A103 and the motor lifting mechanism 101, the hanging plate 105 with the workpiece is fully loaded, and the hanging plate 105 is simultaneously replaced for waiting loading. The invention realizes the full automation of workpiece feeding, improves the feeding accuracy, ensures the workpiece feeding quality in the feeding process, has simple composition structure and wide application range.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. An automatic feeder comprising a power cabinet (16), characterized in that: the utility model discloses a power cabinet, including power cabinet (16), including frame (15), material taking frame (14), fixed plate A (4), fixed plate B (6), motor switching mechanism, material taking frame (14) are rectangular frame, and frame (15) perpendicular stretches over material taking frame (14), hold-in range conveying mechanism (12), empty tray stacking mechanism (13) parallel arrangement is in frame (15) upper end, motion slide rail (10) set up in material taking frame (14) upper end frame one side, the lower extreme sets up work piece material taking mechanism (11), just work piece material taking mechanism (11) set up in empty tray stacking mechanism (13) top, empty tray stacking mechanism (13) one end sets up 4 shelves posts, the other end sets up work piece feed mechanism (8), fixed plate A (4), fixed plate B (6) set up between hold-in range conveying mechanism (12) and empty tray stacking mechanism (13), work piece direction detection mechanism (7) set up in fixed plate B (6) upper end side, and place hold-in range conveying mechanism (12) top, detection ring (9) set up in work piece direction detection mechanism (7) below fixed plate B (6) and fixed plate B (5) one side setting up in fixed plate (6), the other end of the empty tray stacking mechanism (13) is further provided with a cam assembly mechanism (2), the pneumatic clamp (3) is installed on the cam assembly mechanism (2), and the lower end of the cam assembly mechanism (2) is provided with a hanging tray switching mechanism (1); hanging dish switching mechanism (1) have motor elevating system (101), switch board (102), motor A (103), motor B (104), hanging dish (105), fixed slide rail (106), motor C (107), switch board (102) rear end face is connected in motor A (103), terminal surface one side sets up motor elevating system (101) before switch board (102), and the opposite side sets up fixed slide rail (106), and motor B (104), motor C (107) set up in fixed slide rail (106), and hanging dish (105) are connected in motor A (103), motor B (104) power take off end, set up shell fragment (108) on hanging dish (105).
2. An automatic feeder according to claim 1, wherein: the spring piece position detection mechanism (5) is a laser position detector, and the laser output end is arranged on one side of the spring piece (108).
3. An automatic feeder according to claim 1, wherein: the hanging plate (105) is disc-shaped, and a plurality of elastic sheets (108) are uniformly arranged on the edge end face.
4. An automatic feeder according to claim 1, wherein: the motors B (104) and C (107) are direct drive rotary motors.
5. An automatic feeder according to claim 1, wherein: the synchronous belt in the synchronous belt conveying mechanism (12) is an arc tooth synchronous belt.
6. An automatic feeder according to claim 1, wherein: the workpiece distributing mechanism (8) is provided with a distributing cylinder and a jacking cylinder.
7. An automatic feeder according to claim 1, wherein: the workpiece taking mechanism (11) is provided with a material blocking cylinder and a jacking cylinder.
8. An automatic feeder according to claim 1, wherein: the chuck of the pneumatic clamp (3) is encapsulated by rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811199964.8A CN109230573B (en) | 2018-10-16 | 2018-10-16 | Automatic feeding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811199964.8A CN109230573B (en) | 2018-10-16 | 2018-10-16 | Automatic feeding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109230573A CN109230573A (en) | 2019-01-18 |
| CN109230573B true CN109230573B (en) | 2023-12-01 |
Family
ID=65053526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811199964.8A Active CN109230573B (en) | 2018-10-16 | 2018-10-16 | Automatic feeding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109230573B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775625A (en) * | 2019-11-27 | 2020-02-11 | 江苏创源电子有限公司 | Rod piece die filling equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5882174A (en) * | 1995-12-15 | 1999-03-16 | Ats Automation Tooling Systems Inc. | System for loading or unloading of parts onto or from trays |
| JP2007302419A (en) * | 2006-05-11 | 2007-11-22 | Seiko Corp | Automatic out-of-system discharge and supply transport system |
| CN105501973A (en) * | 2016-01-04 | 2016-04-20 | 深圳市宝尔威精密机械有限公司 | Automatic feeding machine for mainboard cooling modules |
| CN205187304U (en) * | 2015-10-16 | 2016-04-27 | 东莞市荣旭自动化科技有限公司 | AG unloading is always installed |
| JP2016193459A (en) * | 2015-03-31 | 2016-11-17 | トヨタ自動車株式会社 | Work transfer device |
| CN106955850A (en) * | 2017-04-10 | 2017-07-18 | 苏州菱欧自动化科技股份有限公司 | A kind of automatic testing method of cell piece |
| CN107381043A (en) * | 2017-09-05 | 2017-11-24 | 东莞市台工电子机械科技有限公司 | A kind of test bag installation of pulse transformer product and its testing package technique |
| CN107416458A (en) * | 2017-09-27 | 2017-12-01 | 厦门理工学院 | A kind of pellet type streamline automatic detection device |
| CN107640601A (en) * | 2017-09-27 | 2018-01-30 | 厦门理工学院 | A kind of pellet type streamline automatic feeding |
| CN208979890U (en) * | 2018-10-16 | 2019-06-14 | 深圳市正和忠信股份有限公司 | A kind of automatic feeder |
-
2018
- 2018-10-16 CN CN201811199964.8A patent/CN109230573B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5882174A (en) * | 1995-12-15 | 1999-03-16 | Ats Automation Tooling Systems Inc. | System for loading or unloading of parts onto or from trays |
| JP2007302419A (en) * | 2006-05-11 | 2007-11-22 | Seiko Corp | Automatic out-of-system discharge and supply transport system |
| JP2016193459A (en) * | 2015-03-31 | 2016-11-17 | トヨタ自動車株式会社 | Work transfer device |
| CN205187304U (en) * | 2015-10-16 | 2016-04-27 | 东莞市荣旭自动化科技有限公司 | AG unloading is always installed |
| CN105501973A (en) * | 2016-01-04 | 2016-04-20 | 深圳市宝尔威精密机械有限公司 | Automatic feeding machine for mainboard cooling modules |
| CN106955850A (en) * | 2017-04-10 | 2017-07-18 | 苏州菱欧自动化科技股份有限公司 | A kind of automatic testing method of cell piece |
| CN107381043A (en) * | 2017-09-05 | 2017-11-24 | 东莞市台工电子机械科技有限公司 | A kind of test bag installation of pulse transformer product and its testing package technique |
| CN107416458A (en) * | 2017-09-27 | 2017-12-01 | 厦门理工学院 | A kind of pellet type streamline automatic detection device |
| CN107640601A (en) * | 2017-09-27 | 2018-01-30 | 厦门理工学院 | A kind of pellet type streamline automatic feeding |
| CN208979890U (en) * | 2018-10-16 | 2019-06-14 | 深圳市正和忠信股份有限公司 | A kind of automatic feeder |
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| Publication number | Publication date |
|---|---|
| CN109230573A (en) | 2019-01-18 |
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